CN114000829A

CN114000829A - Central control type seabed multi-head continuous sampling drilling machine

Info

Publication number: CN114000829A
Application number: CN202111257800.8A
Authority: CN
Inventors: 刘永升; 阳志远; 胡远彪; 云霄; 夏建新; 杨甘生; 吕建国
Original assignee: China University of Geosciences Beijing
Current assignee: China University of Geosciences Beijing
Priority date: 2021-10-27
Filing date: 2021-10-27
Publication date: 2022-02-01
Anticipated expiration: 2041-10-27
Also published as: CN114000829B

Abstract

The invention provides a central control type seabed multi-head continuous sampling drilling machine, which solves the problem of low sampling efficiency when the drilling machine operates. The drilling machine comprises a drilling machine, wherein the drilling machine is provided with a drilling tool moving mechanism, a power drilling mechanism for driving a drilling rod to drill downwards and a drilling tool storage mechanism for storing the drilling rod and a core tube, the number of the power drilling mechanisms is more than two, all the drilling tool storage mechanisms are arranged around the central axis of the drilling machine, and one power drilling mechanism is arranged between every two adjacent drilling tool storage mechanisms; the drilling tool moving mechanism is positioned in the center of the drilling machine and can rotate 360 degrees by taking the central axis of the drilling machine as a rotating shaft, and the drilling tool moving mechanism can grab all drill rods and core pipes at different positions in the drilling tool storage mechanism in the rotating process and move the drill rods and the core pipes between the corresponding power drilling mechanism and the storage mechanism. The invention fully utilizes the internal space of the drilling machine, the number of the power drilling mechanisms is more than two, more drilling tools can be carried for offshore operation, and the efficiency of single sampling operation is improved.

Description

Central control type seabed multi-head continuous sampling drilling machine

Technical Field

The invention relates to the technical field of drilling machine equipment, in particular to a central control type seabed multi-head continuous sampling drilling machine.

Background

The seabed crust contains abundant mineral resources including petroleum, natural gas hydrate, multi-metal nodule, cobalt-rich crust and the like, the development of seabed resources can effectively relieve the situation of global resource shortage, and the seabed sampling equipment is necessary technical equipment for developing marine geology and environmental science research, marine mineral resource exploration and seabed engineering geological survey. Various undersea sampling devices have been developed according to the sampling depth requirements. The seabed coring drilling machine is drilling equipment with a drilling system completely working on seabed, and has the advantages of deep sampling depth, high sample taking rate, large quantity, high automation and intelligent degree and the like compared with shallow sampling equipment; compared with an ocean drilling machine which needs to depend on a drilling ship or a drilling platform, the submarine drilling machine can realize remote energy supply and communication control by needing an umbilical cable with bearing capacity with a bearing ship when working underwater, and has the advantages of low drilling cost, high efficiency, small sample disturbance, easiness in pressure maintaining, small equipment volume, easiness in operation, strong ship adaptability and the like. At present, a seabed coring drilling machine becomes indispensable important technical equipment for seabed resource exploration, marine geological survey and marine scientific investigation, and is paid attention and applied to all oceanic strong countries in the world, and a plurality of scientific research achievements are applied to actual marine survey projects, so that considerable economic benefits and social benefits are obtained, and the scientific value of the seabed drilling machine is also highlighted.

According to the difference of drilling depth, functions and design concepts, the submarine drilling machine is mainly divided into four generations, the current sampling operation is mainly performed by a third generation drilling machine, the third generation drilling machine adopts a rope coring method, the drilling depth reaches 200m, the submarine drilling machine is provided with geophysical prospecting equipment and various testers, and a pressure maintaining system is added. Coring efficiency, quality, the functional diversity of rig, intellectuality have all had great promotion.

The wire line coring method is a coring drilling method which takes an inner hole of a drill rod as a channel and lifts a rock core stored in a core barrel in the drill rod to a hole site by means of a wire line and a special fishing tool without lifting the drill rod out of the hole after the rock core is filled in the core barrel in the drilling process. Because the drill rod does not need to be lifted out of the hole, the time for pulling out and running down the drilling tool is greatly reduced.

The applicant has found that the prior art has at least the following technical problems: the existing submarine drilling machine only has one power head, and only one point location can be sampled during single submarine operation, so that the sampling quantity is small, and the efficiency is low. And the drilling machine carries few drilling tools, and the utilization rate of the internal space is low.

Disclosure of Invention

The invention aims to provide a central control type seabed multi-head continuous sampling drilling machine, which aims to solve the technical problem that the sampling efficiency is low when the existing drilling machine works in the prior art; the technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.

In order to achieve the purpose, the invention provides the following technical scheme:

the invention provides a central control type seabed multi-head continuous sampling drilling machine, which comprises a drilling machine, wherein the drilling machine is provided with a drilling tool moving mechanism, a power drilling mechanism for driving a drilling rod to drill downwards and a drilling tool storage mechanism for storing the drilling rod and a core barrel, wherein:

the power drilling mechanisms are more than two, all the drilling tool storage mechanisms are arranged around the central axis of the drilling machine, and one power drilling mechanism is arranged between every two adjacent drilling tool storage mechanisms;

the drilling tool moving mechanism is positioned in the center of the drilling machine and can rotate 360 degrees by taking the central axis of the drilling machine as a rotating shaft, and the drilling tool moving mechanism can grab all the drilling rods and the core pipes at different positions in the drilling tool storage mechanism in the rotating process and move the drilling rods and the core pipes between the power drilling mechanism and the storage mechanism correspondingly.

Preferably, the drilling tool storage mechanism comprises a drilling magazine, the radial section of the drilling magazine is in a sector ring shape, the center of the sector ring is located on the central axis of the drilling machine, the drilling magazine comprises an upper disc, a bottom disc and more than two transmission discs, which are connected, wherein:

the number of the transmission discs is more than two, all the transmission discs are positioned between the upper disc and the base disc and are arranged at intervals in the vertical direction, the transmission discs are in a sector ring shape and positioned in a horizontal plane, and the drill rod and the core tube vertically penetrate through all the transmission discs;

more than two conveying channels used for conveying drill rods and core pipes are formed in the conveying disc, and when the drill rods or the core pipes are placed in the conveying channels on the inlet side, the other drill rod or the core pipe can be output from the outlet side.

Preferably, the conveying disc comprises at least three conveying mechanisms which are sequentially arranged from inside to outside at intervals, the conveying channels are formed in the conveying mechanisms and/or between the adjacent conveying mechanisms, and the drill rods and the core tubes are clamped in the corresponding conveying channels by the conveying mechanisms;

guide rails are arranged on the bottom surface of the upper disc and/or the upper surface of the bottom disc, and the ends of the drill rods and the core tubes extend into the guide rails and can slide along the guide rails when the drill rods move in the core tubes in the conveying channel.

Preferably, the conveying mechanisms each include an upper shell, a lower shell, a conveyor belt, and a bearing portion, wherein:

the upper shell is connected with the lower shell, the conveyor belt is movably arranged between the upper shell and the lower shell through the bearing part, and the drill rod and the core tube are clamped between the conveyor belts on two sides; when the drilling tool moving mechanism sends the drill rod or the core tube into the inlet side of the conveying channel, the conveying belts on two sides of the conveying channel can be pushed to move, and further the drill rod or the core tube on the inlet side of the conveying channel is pushed to be output.

Preferably, the drilling tool transfer mechanism comprises a central column, and a driving device, an upper rotating drum, a lower rotating drum and a gripper assembly which are positioned on the central column, wherein:

the upper end and the lower end of the gripper assembly are respectively connected with an upper rotary drum and a lower rotary drum, the lower rotary drum is sleeved at the lower end of the upper rotary drum, and the driving end of the driving device is connected with the upper rotary drum and is used for driving the gripper assembly to rotate by taking the central column as an axis;

the hand grip assembly at least comprises two arms, and an included angle between the arms is adjustable; each arm deviates from one end of the central column is provided with a manipulator, and the manipulators are used for grabbing and releasing the drill rod and the core barrel.

Preferably, the tongs subassembly includes the hydro-cylinder that opens and shuts, first arm, second arm, third arm and fourth arm, wherein:

the first arm and the second arm are positioned in the same horizontal plane, the end parts of the first arm and the second arm are hinged to the upper rotary drum, the third arm and the fourth arm are positioned in the same horizontal plane, and the end parts of the third arm and the fourth arm are hinged to the lower rotary drum;

the upper rotary drum is sleeved with an elastic component, the upper end of the elastic component is limited on the upper rotary drum, the lower end of the elastic component is connected with the lower rotary drum, a sliding part is arranged on the elastic component, the opening and closing oil cylinder is horizontally arranged and fixed on the sliding part, and the telescopic end of the opening and closing oil cylinder is connected with a sliding block; the first arm, the second arm, the third arm and the fourth arm are connected with an opening and closing arm between the sliding blocks, two ends of the opening and closing arm are hinged to the sliding blocks and the corresponding arms, and the opening and closing oil cylinder can drive the first arm and the second arm and the third arm and the fourth arm to open and close when stretching.

Preferably, the rig is still including being located the levelling mechanism of rig bottom, it includes the leveling base and is located two more than stabilizer blades on the leveling base, every stabilizer blade all is connected with leveling cylinder, stabilizer blade telescopic cylinder and stabilizer blade swivel cylinder, wherein:

the telescopic ends of all the supporting foot telescopic oil cylinders are arranged away from the center of the leveling base, the telescopic ends of the supporting foot telescopic oil cylinders are connected with telescopic beams, and the telescopic beams are connected with the leveling base in a sliding mode; the leveling oil cylinder is rotatably connected to one end of the telescopic beam, which is far away from the support leg telescopic oil cylinder, and the telescopic end of the leveling oil cylinder is downwards arranged and connected with the support leg;

the stabilizer blade rotary cylinder is fixed in the flexible roof beam, and its flexible end articulates there is an eccentric rod, the eccentric rod with the leveling cylinder is connected, just the eccentric rod for the axis eccentric settings of leveling cylinder, the stabilizer blade can drive when the stabilizer blade rotary cylinder is flexible the stabilizer blade in horizontal plane internal rotation 180 in order to with the stabilizer blade is opened and is withdrawed.

Preferably, the power drilling mechanism comprises a vertical shaft, a power head for connection with a drill rod, a housing and a swivel system, wherein:

the vertical shaft is vertically arranged and can rotate by taking the axis of the vertical shaft as the center, the vertical shaft is in transmission connection with the power head and can drive the power head to rotate, and the power head can move up and down to feed;

the rotary system comprises a driving device, a transmission shaft, a clutch and a gearbox, wherein the vertical shaft is rotationally connected to the rack, and a chuck for clamping the drill rod is arranged at the lower part of the vertical shaft; the driving device is positioned at the top of the drilling machine, the transmission shafts are horizontally arranged, an output shaft of the driving device is in transmission connection with all the transmission shafts, the other end of each transmission shaft is in transmission connection with the top end of the corresponding vertical shaft, and the rotation of the driving device can drive all the vertical shafts to rotate by taking the axis of the driving device as the center; the clutch is positioned between the transmission shaft and the vertical shaft and is used for cutting off the power transmission between the transmission shaft and the vertical shaft;

the gear box is positioned on the vertical shaft, and the vertical shaft is in transmission connection with the power head through the gear box; and the lower part of the threaded connecting part is provided with an external thread end which is in threaded connection with the drill rod.

Preferably, the power drilling mechanism further comprises a feeding system, the feeding system comprises a long feeding cylinder, a short feeding cylinder, an upper slide seat and a lower slide seat, wherein:

the upper sliding seat and the lower sliding seat are both connected to the rack in a sliding manner and are arranged at intervals in the vertical direction, and the gearbox and the power head are both connected to the lower sliding seat;

the long feeding oil cylinder is vertically arranged, and the telescopic end of the long feeding oil cylinder is hinged with the upper sliding seat; the fixed end of the short feeding oil cylinder is hinged to the lower sliding seat, and the telescopic end of the short feeding oil cylinder is hinged to the upper sliding seat.

Preferably, the top of the drilling machine is further provided with a coring mechanism, and each power drilling mechanism is connected with one coring mechanism, and the coring mechanism comprises a winch and a fishing spearhead, wherein: the winch is wound with a rope and used for recovering or releasing the rope, the spearhead is fixed to the free end of the rope, and the spearhead is located right above the power head.

Compared with the prior art, the central control type seabed multi-head continuous sampling drilling machine provided by the invention has the following beneficial effects:

the power drilling mechanisms are more than two, each power drilling mechanism is arranged between adjacent drilling tool storage mechanisms, the drilling tool transporting mechanism is positioned in the center of the drilling machine, and the drilling tool transporting mechanism can rotate 360 degrees by taking the central axis of the drilling machine as a rotating shaft; the cooperation of the three makes full use of the internal space of the drilling machine and effectively realizes the drilling operation. The central control type seabed multi-head continuous sampling drilling machine fully utilizes the internal space of the drilling machine, optimizes the layout of a drilling warehouse, enables the drilling machine to carry more drilling tools for offshore operation, and improves the efficiency of single sampling operation; the multi-point sampling can be simultaneously carried out during one-time lowering operation, underwater multi-head continuous sampling is realized, the quantity and the quality of the rock cores are improved, and the rock core disturbance is small when the sampling is guaranteed. And the structure is compact, and the transportation and the deck lowering are convenient.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a centralized type seabed multi-head sampling drilling machine;

FIG. 2 is a schematic diagram of the internal structure of the centralized type seabed multi-head sampling drilling machine;

FIG. 3 is a schematic structural diagram of a drilling tool storage mechanism of the central control type seabed multi-head sampling drilling machine;

FIG. 4 is a schematic view of the construction of the carousel of the drill storage mechanism of the present invention;

FIG. 5 is a schematic view showing the structure of a transfer mechanism in the transfer tray of the present invention;

FIG. 6 is a schematic structural diagram of a drilling tool transfer mechanism of the central control type seabed multi-head sampling drilling machine;

FIG. 7 is an axial sectional view of the drill tool distancing mechanism;

FIG. 8 is a schematic view of the construction of a mechanical gripper in the tool movement mechanism of the present invention;

fig. 9 is a schematic view of the robot hand of the present invention with two jaws closed;

FIG. 10 is a schematic view of the robot with the jaws open;

FIG. 11 is a schematic view of the operation of the tool storage mechanism in cooperation with the drill transport mechanism;

FIG. 12 is a structural schematic diagram of a leveling mechanism of the centralized type seabed multi-head sampling drilling machine;

FIG. 13 is a schematic view of the bottom view of the leveling mechanism of the centralized type submarine multi-head sampling drilling machine according to the present invention;

FIG. 14 is a schematic view of the leveling mechanism with one of the legs open;

FIG. 15 is a schematic diagram of a multi-head power drilling system of the centralized control type seabed multi-head sampling drilling machine;

fig. 16 is a schematic view of the structure at a in fig. 15.

In the figure: 100. a drilling machine; 101. a top shell; 102. a base; 200. a drill stem; 300. a core barrel; 400. drilling;

1. a powered drilling mechanism; 11. a vertical shaft; 12. a power head; 121. a threaded connection; 122. an externally threaded end; 120. a driven wheel; 13. a frame; 141. a hydraulic motor; 142. a drive shaft; 143. a gearbox; 1431. a driving wheel; 1432. an intermediate wheel; 144. a clutch; 15. a feed system; 151. a long feeding oil cylinder; 152. a short feed cylinder; 153. an upper slide base; 154. a lower slide base; 16. a chuck;

2. a drilling tool transfer mechanism; 20. a central column; 21. a drive device; 211. an octant swing cylinder; 212. a four-angle swing oil cylinder; 213. a half-angle swing cylinder; 22. rotating the drum upwards; 23. a lower rotary drum; 24. a gripper assembly; 240. an opening and closing oil cylinder; 241. a first arm; 242. a second arm; 243. a third arm; 244. a fourth arm; 245. an opening and closing arm; 246. a slider; 247. a manipulator; 2471. a gripper cylinder; 2472. a gripper seat; 2473. a claw portion; 25. a compression spring; 26. a slider;

3. a drilling tool storage mechanism; 30. drilling a warehouse; 31. hanging the plate; 32. a chassis; 33. a transfer tray; 34. a guide rail; 35. connecting columns; 36. a connecting plate; 331. a first conveying mechanism; 332. a second transport mechanism; 333. a third transport mechanism; 334. a fourth transport mechanism; 335. a transfer channel; 3301. an upper shell; 3302. a lower case; 3303. a conveyor belt; 3304. a bearing portion;

4. a coring mechanism; 41. a winch; 42. fishing a spearhead; 43. a rope;

5. a leveling mechanism; 50. leveling the base; 51. a support leg; 52. a leveling cylinder; 53. an eccentric rod; 54. a support leg telescopic oil cylinder; 55. a telescopic beam; 56. the support leg rotates the cylinder.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "length", "width", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "side", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the equipment or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

The embodiment of the invention provides a central control type seabed multi-head continuous sampling drilling machine, which is matched with and fully utilizes the internal space of the drilling machine, so that the drilling machine can carry more drilling tools for offshore operation, and the efficiency of single sampling operation is improved.

The technical solution provided by the present invention is explained in more detail below with reference to fig. 1 to 16.

Example one

In the prior art, the wire line coring method is a coring drilling method which takes an inner hole of a drill rod as a channel and lifts a rock core stored in a core barrel inside the drill rod to a hole site by means of a wire line and a special fishing tool without lifting the drill rod out of the hole after the rock core is filled in the core barrel in the drilling process. Because the drill rod does not need to be lifted out of the hole, the time for pulling out and running down the drilling tool is greatly reduced. The core tube is used as an inner tube in the drill rod, and the core tube is fished out of the drill rod after the core penetrates through the core tube.

As shown in fig. 1 to 16, the present embodiment provides a central-control type seafloor multi-head continuous sampling drilling machine, which comprises a drilling machine 100, wherein the drilling machine 100 is provided with a drilling tool moving mechanism 2, a power drilling mechanism 1 for driving a drilling rod 200 to drill downwards, and a drilling tool storage mechanism for storing the drilling rod 200 and a core barrel 300, wherein: the power drilling mechanism 1 is provided with more than two, all the drilling tool storage mechanisms are arranged around the central axis of the drilling machine 100, and one power drilling mechanism 1 is arranged between every two adjacent drilling tool storage mechanisms; the drilling tool moving mechanism 2 is positioned in the center of the drilling machine 100 and can rotate 360 degrees by taking the central axis of the drilling machine 100 as a rotating shaft, and the drilling tool moving mechanism 2 can grab all drill rods and core pipes at different positions in the drilling tool storage mechanism 3 in the rotating process and move the drill rods and the core pipes between the corresponding power drilling mechanism 1 and the storage mechanism.

Wherein, the drilling machine 100 is provided with a lowering and recovering structure which is positioned at the top end of the drilling machine and connected with the drilling machine 100 and is mainly used for uniformly transmitting the force during the retracting and releasing to the drilling machine main body, which is a mature technology in the field and is not described herein any more. The top shell 101 of the drilling machine is used for connecting the downward-placing and recovering structure and the drilling machines 100, and the base 102 of the drilling machine is connected with the power drilling mechanism 1, the drilling tool moving mechanism 2 and the drilling tool storage mechanism, so that the overall structure of the drilling machine is guaranteed.

In the central control type seabed multi-head continuous sampling drilling machine of the embodiment, more than two power drilling mechanisms 1 are provided, each power drilling mechanism 1 is arranged between adjacent drilling tool storage mechanisms, the drilling tool transporting mechanism 2 is positioned in the center of the drilling machine 100, and the drilling tool transporting mechanism 2 can rotate 360 degrees by taking the central axis of the drilling machine 100 as a rotating shaft; the cooperation of the three makes full use of the internal space of the drilling machine and effectively realizes the drilling operation. The central control type seabed multi-head continuous sampling drilling machine fully utilizes the internal space of the drilling machine, optimizes the layout of the drilling warehouse 30, enables the drilling machine to carry more drilling tools for offshore operation, and improves the efficiency of single sampling operation; the multi-point sampling can be simultaneously carried out during one-time lowering operation, underwater multi-head continuous sampling is realized, the quantity and the quality of the rock cores are improved, and the rock core disturbance is small when the sampling is guaranteed. And the structure is compact, and the transportation and the deck lowering are convenient.

The power drilling mechanism 1 is used for connecting with a drill rod 200 and providing power for downward feeding of the drill rod. The tool storage mechanism is used to store drill rods 200 and core tubes 300, wherein the internally stored drill rods are used to connect with the drill rods being used to extend the length of the drill rod assemblies (drill rod assembly refers to a plurality of drill rods interconnected end to end) and the internally stored core tubes are used to continually replenish the drill rods with new core tubes. The drilling tool moving mechanism 2 is used for transferring the used core rod in the drilling tool to the drilling tool storage mechanism, transferring a new core tube in the drilling tool storage mechanism to the drilling tool which drills downwards, and transferring the new drilling tool to the power drilling mechanism 1 to prolong the drilling tool assembly.

The structure of the tool storage mechanism is critical in order to enable the drilling machine to carry multiple drill rods and core tubes at once. Referring to fig. 1-5, the present embodiment provides an embodiment of a drill storage mechanism:

referring to fig. 2 and 3, the drilling tool storage mechanism of the present embodiment includes four drilling tool storage mechanisms, and the four drilling tool storage mechanisms are arranged at intervals and arranged around the central drilling tool transfer mechanism 2, so that the drilling tool transfer mechanism 2 can grab the drill rods 200 and the core barrel 300 at different positions in the four drilling tool storage mechanisms when rotating 360 degrees, the structure is compact, and the internal space of the drilling machine is fully utilized.

Specifically, the drilling tool storage mechanism of the present embodiment includes a drilling magazine 30, as shown in fig. 3 and 4, a radial section of the drilling magazine 30 is a sector ring, a center of the sector ring is located on a central axis of the drilling machine 100, the drilling magazine 30 includes an upper disc 31, a bottom disc 32, and two or more transmission discs 33 connected to each other, where: referring to fig. 2, the upper plate 31 and the bottom plate 32 are arranged at intervals and connected through a connecting plate 36, the number of the transmission plates 33 is more than two, and referring to fig. 3, in the embodiment, each drill magazine 30 comprises four transmission plates 33, all the transmission plates 33 are arranged between the upper plate 31 and the bottom plate 32 at intervals in the vertical direction, and a connecting column 35 penetrates through all the transmission plates 33 and connects all the transmission plates 33 together; the transmission discs 33 are likewise in the shape of a sector ring and are located in a horizontal plane, and drill rods and core tubes vertically penetrate through all the transmission discs 33; in other words, different portions of each drill rod and core barrel are retained in different transfer trays 33, which ensures that the drill rods and core barrels are always kept in a vertical state during the transfer of the drill rods 200 and core barrels 300, and can be stably transferred within the drill magazine 30. More than two transfer passages 335 for transferring the drill rods 200 and the core barrel 300, respectively, are formed in each transfer plate 33, and when a drill rod or a core barrel is put in at an inlet side of the transfer passage 335, another drill rod or core barrel can be output from an outlet side.

Referring to fig. 2, 3 and 4, after a core barrel filled with a core is lifted from a drill rod, the drilling tool transport mechanism 2 grabs the core barrel and pushes the core barrel into the conveying channel from the inlet side of the conveying channel 335, at this time, the conveying channel 335 pushes another new unused core barrel from the outlet side of the conveying channel, and the drilling tool transport mechanism 2 grabs the new core barrel and transfers the new core barrel to the position of the power drilling mechanism 1, so that the core barrel is conveniently lifted into the drill rod at the bottom of the drill hole to continue sampling.

As an alternative embodiment, referring to fig. 4, the carousel 33 includes at least three transport mechanisms arranged at intervals in sequence from inside to outside, referring to fig. 4, the carousel 33 of this embodiment includes a first transport mechanism 331, a second transport mechanism 332, a third transport mechanism 333 and a fourth transport mechanism 334 arranged in sequence from inside to outside, referring to fig. 4, the transport channels 335 are formed in the first transport mechanism, and the transport channels 335 are also formed between the first transport mechanism 331 and the second transport mechanism 332, between the second transport mechanism 332 and the third transport mechanism 333, and between the third transport mechanism 333 and the fourth transport mechanism 334, i.e. the four transport channels 335 are formed in each carousel 33, of which two transport channels 335 are used for storing drill rods and the other two transport channels 335 are used for storing core tubes and arranged at intervals, the drill rod and core barrel transfer mechanisms are retained within the respective transfer channels 335 and are movable within the transfer channels 335.

Referring to fig. 3 and 4, the bottom surface of the upper disc 31 and/or the upper surface of the lower disc 32 are provided with rails 34, the rails 34 on the bottom surface of the upper disc 31 open downward, the rails 34 on the upper surface of the lower disc 32 open upward, and the ends of the drill rods and the core barrel extend into the rails 34 and can slide along the rails 34 as the drill rods move within the conveyance channel 335. This structure can make drilling rod and core barrel when removing in transfer passage 335, the both ends of drilling rod and core barrel and upper plate 31 and chassis 32 sliding connection to guarantee that drilling rod and core barrel remain vertical state all the time, and steady movement.

A specific structure of the transfer passage 335 capable of transferring drill rods and core barrels is provided below, and each transfer mechanism includes an upper shell 3301, a lower shell 3302, a transfer belt 3303, and a bearing portion 3304, as shown in fig. 5, wherein: the upper and lower housings 3301, 3302 are connected, and the conveyor belt 3303 is movably disposed between the upper and lower housings 3301, 3302 via a bearing portion 3304, see fig. 11, with the drill pipe 200 and core barrel 300 clamped between the conveyor belts 3303 on both sides; the conveying mechanism of the embodiment does not need a power device, when the drilling tool transporting mechanism 2 conveys the drill rods 200 or the core pipes 300 into the inlet side of the conveying channel 335, the conveying belts 3303 on the two sides of the conveying channel 335 can be pushed to move, the conveying belts 3303 on the two sides move to drive the clamped drill rods or core pipes to move, so that the drill rods 200 or the core pipes 300 on the inlet side of the conveying channel 335 can be pushed out of the conveying channel 335, and at the moment, the drilling tool transporting mechanism 2 clamps and fixes the drill rods or the core pipes pushed out by the conveying channel, and the drilling tool transporting mechanism is convenient to transfer.

Wherein, can set up the guide rail 34 of restriction conveyer belt 3303 orbit between epitheca 3301 and the inferior valve 3302, bearing portion 3304 rotates and connects between epitheca 3301 and inferior valve 3302, and bearing portion 3304's outer lane and conveyer belt 3303 contact of laminating mutually, can drive conveyer belt 3303 and remove when the bearing rotates under the exogenic action. All the transmission mechanisms are matched together to realize the movement of the drill rod and the core barrel.

The tool storage mechanism in this embodiment can transport drill rods and cores through different transport channels 335 on the carousel 33, and when a drill rod or core is placed on one side, another drill rod or core can be simultaneously delivered on the other side.

Referring to fig. 2 and 3, the drilling machine of the present embodiment includes four drilling magazines 30, each drilling magazine 30 is in a sector shape, all the drilling magazines 30 are uniformly arranged around the central axis of the drilling machine 100, the power drilling mechanism 1 is located between adjacent drilling magazines 30, thus, all the power drilling mechanisms 1 and all the drilling magazines 30 form a cylindrical structure, the drilling tool transfer mechanism 2 is located at the central position inside the drilling machine, the internal space of the drilling machine is fully utilized, and one drilling tool transfer mechanism 2 can transfer drill rods and core pipes between different power drilling mechanisms 1 and different drilling magazines 30.

Example two

The present embodiment is an improvement on the above embodiment, and in the present embodiment, a specific implementation of the drill transport mechanism 2 is provided, as shown in fig. 2, fig. 6 and fig. 7, the drill transport mechanism 2 of the present embodiment includes a central column 20, a driving device 21 located on the central column 20, an upper rotary drum 22, a lower rotary drum 23 and a gripper assembly 24, wherein: the upper end and the lower end of the gripper assembly 24 are respectively connected with an upper rotary drum 22 and a lower rotary drum 23, the lower rotary drum 23 is sleeved at the lower end of the upper rotary drum 22, as shown in fig. 7, the driving end of the driving device 21 is connected with the upper rotary drum 23 and is used for driving the gripper assembly 24 to rotate 360 degrees by taking the central column 20 as an axis; the gripper assembly 24 at least comprises two arms, and the included angle between the arms can be adjusted; the end of each arm facing away from the central column 20 is provided with a robot 247, the robot 247 being used to grip and release the drill rod 200 and the core barrel 300.

Specifically, referring to fig. 6, the driving device 21 includes an octant swing cylinder 211, a quartet swing cylinder 212, and a half-angle swing cylinder 213, all of which are sleeved on the central column 20, wherein the octant swing cylinder 211 can rotate 45 ° and is located at the uppermost portion of the central column 20 of the drilling machine, and a cylinder rotating head is connected with the quartet swing cylinder 212; the quarter-angle swing oil cylinder 212 can rotate around the central axis of the central column 20, the oil cylinder rotating head can rotate 90 degrees relative to the quarter-angle oil cylinder, and the oil cylinder rotating head is connected with the half-angle swing oil cylinder 213; the half-angle swing cylinder 213 can rotate around the central axis of the central column 20, the cylinder rotating head can rotate 180 degrees relative to the half-angle swing cylinder 213, the cylinder rotating head is connected with the upper rotary drum 22, and the upper rotary drum 22 is connected with the gripper assembly 24. Thus, under the combined action of the eighth-angle swing cylinder 211, the quarter-angle swing cylinder 212 and the half-angle swing cylinder 213, the upper rotary drum 22, the gripper assemblies 24 and the lower rotary drum 23 can be driven to rotate by 45 °, 90 °, 135 °, 180 °, 225 °, 270 °, 315 ° and 360 °, so that the gripper assemblies just correspond to the power heads and the central positions of the conveying channels 335, as shown in fig. 11, thereby gripping drill rods or core pipes in four drilling magazines 30, and placing the core pipes in different conveying channels 335 of different drilling magazines 30.

The included angle between the two arms is adjustable, one arm can be used for pushing the core barrel into the inlet side of the conveying channel 335, the other arm can clamp and fix the core barrel output from the outlet side of the conveying channel, and therefore the two arms can simultaneously realize that the used core barrel is placed into the same conveying channel 335 and a new core barrel is taken out, and the moving efficiency is improved.

As an alternative embodiment, referring to fig. 6, the present embodiment provides a specific embodiment of the gripper assembly 24, and the gripper assembly 24 of the present embodiment includes an opening and closing cylinder 240, a first arm 241, a second arm 242, a third arm 243, and a fourth arm 244, where: the first arm 241 and the second arm 242 are located in the same horizontal plane, and the ends of the two arms are hinged to the upper rotary drum 22, the third arm 243 and the fourth arm 244 are located in the same horizontal plane, and the ends of the two arms are hinged to the lower rotary drum 23; an elastic component is sleeved outside the upper rotary drum 22, the upper end of the elastic component is limited on the upper rotary drum 22, and the lower end of the elastic component is connected with the lower rotary drum 23, as shown in fig. 7, the elastic component can be a compression spring 25, as shown in fig. 6, the compression spring 25 is sleeved on the central column 20, a sliding part 26 is arranged on the compression spring 25, an opening-closing oil cylinder 240 is horizontally arranged and fixed on the sliding part 26, and the telescopic end of the opening-closing oil cylinder 240 is connected with a sliding block 246; the first arm 241, the second arm 242, the third arm 243 and the fourth arm 244 are connected with the sliding block 246 through the opening and closing arms 245, two ends of each opening and closing arm 245 are hinged to the sliding block 246 and the corresponding arm, and the opening and closing oil cylinder 240 can drive the first arm 241 and the second arm 242 and the third arm 243 and the fourth arm 244 to be opened and closed when stretching.

Specifically, as shown in fig. 6, when the opening and closing cylinder 240 extends, the sliding block 246 can be pushed to move toward the central column 20, at this time, the four opening and closing arms 245 are driven by the sliding block 246 to move toward the central column 20, the included angles between the first arm 241 and the second arm 242 and between the third arm 243 and the fourth arm 244 are increased, the distance between the upper rotary drum 22 and the lower rotary drum 23 is decreased, and the compression spring 25 is compressed accordingly. When the opening and closing oil cylinder 240 contracts, the sliding block 246 can be pulled to move in the direction away from the central column 20, at the moment, the four opening and closing arms 245 move away from the central column 20 under the driving of the sliding block 246, included angles between the first arm 241 and the second arm 242 and included angles between the third arm 243 and the fourth arm 244 are all reduced, the distance between the upper rotary drum 22 and the lower rotary drum 23 is reduced, and the distance between the upper rotary drum 22 and the lower rotary drum 23 is correspondingly increased under the elastic restoring force of the compression spring 25.

As shown in fig. 4 and 11, because the included angles between the inlet side and the outlet side of the different transfer channels 335 are different, when the included angles between the first arm 241 and the second arm 242 and between the third arm 243 and the fourth arm 244 are increased, the core barrel and the drill rod in the transfer channel between the third transfer mechanism 333 and the fourth transfer mechanism 334 can be moved; when the included angles between the first arm 241 and the second arm 242 and between the third arm 243 and the fourth arm 244 are all reduced, the core barrel and the drill rod in the transfer passage in the first transfer mechanism 331 and the transfer passage between the first transfer mechanism 331 and the second transfer mechanism 332 can be moved.

In the present embodiment, a specific implementation of the manipulator 247 is provided, and referring to fig. 8 to 10, the manipulator 247 includes a gripper cylinder 2471, a gripper seat 2472, and at least two claw portions 2473, where: the telescopic end of the hand grip cylinder 2471 is hinged with the first ends of all the claw parts 2473, all the claw parts 2473 are hinged with the hand grip base 2472, and when the hand grip cylinder 2471 extends, the two claw parts 2473 are pushed to be separated from each other, see fig. 10, and when the hand grip cylinder 2471 retracts, the two claw parts 2473 are pulled to be close to each other, see fig. 9.

The working principle of the drilling tool moving mechanism 2 in the embodiment is that, as shown in fig. 11, the rotating disc can be rotated by 8 directions of 45 degrees, 90 degrees, 135 degrees, 180 degrees, 225 degrees, 270 degrees, 315 degrees and 360 degrees through three swing oil cylinders; the opening and closing angle of the arm in the same plane can be controlled by the opening and closing oil cylinder 240. The two parts are matched to complete the connection, disconnection, access and storage of drill rods and core tubes in different hole sites and drill rod storehouses.

EXAMPLE III

The embodiment is an improvement on the above embodiment, and the drilling machine in this embodiment further comprises a leveling mechanism 5 located at the bottom of the drilling machine 100, and the leveling mechanism 5 is used for supporting the drilling machine to be stably placed on the seabed.

In the present embodiment, a specific implementation of the leveling mechanism 5 is provided, and referring to fig. 12 to 14, the leveling mechanism 5 of the present embodiment includes a leveling base 50 and two or more support legs 51 located on the leveling base 50, each support leg 51 is connected to a leveling cylinder 52, a support leg telescopic cylinder 54, and a support leg rotating cylinder 56, wherein: referring to fig. 13, the telescopic ends of all the leg telescopic cylinders 54 are arranged away from the center of the leveling base 50, and the telescopic ends of the leg telescopic cylinders 54 are connected with telescopic beams 55, and the telescopic beams 55 are slidably connected with the leveling base.

Referring to fig. 12 and 14, the leveling cylinder 52 is rotatably connected to an end of the telescopic beam 55 facing away from the leg telescopic cylinder 54, and the telescopic end of the leveling cylinder 52 is disposed downward and connected to the leg 51.

Referring to fig. 14, in fig. 14, for the sake of clarity of the connection structure between the leg rotating cylinder and the leveling cylinder 52, a telescopic beam 55 is omitted, the leg rotating cylinder 56 is fixed in the telescopic beam 55, the telescopic end of the leg rotating cylinder is hinged with an eccentric rod 53, the eccentric rod 53 is connected with the leveling cylinder 52, the eccentric rod 53 is eccentrically arranged relative to the central axis of the leveling cylinder 52, and the leg rotating cylinder 56 can drive the leg 51 to rotate 180 ° in the horizontal plane to open and retract the leg 51 when extending and retracting.

When the support leg telescopic cylinder 54 extends, the leveling cylinder 52 and the support legs 51 can be driven to be away from each other through the telescopic beam 55; when the leg stretching cylinder 54 is contracted, the leveling cylinder 52 and the leg 51 can be driven to approach each other by the stretching beam 55. When the leveling cylinder 52 extends, the support legs 51 can be driven to move in the vertical direction; when the supporting leg rotating cylinder 56 extends, because the eccentric rod 53 is eccentrically arranged compared with the central axis of the leveling cylinder 52, the leveling cylinder 52 and the supporting legs 51 can be driven by the eccentric rod 53 to rotate 180 degrees, and further the supporting legs 51 are opened, as shown in fig. 12, one of the supporting legs 51 in fig. 12 is in an opened state.

The leveling mechanism 5 with the structure can realize that all the support legs 51 are close to and far away from each other in the same plane, ascend and descend in the vertical direction and realize the rotation of the support legs 51, so that the drilling machine 100 is stable and beneficial to the seabed.

Example four

The present embodiment is an improvement over the above-described embodiments in that it provides a specific embodiment of a power drilling mechanism, as shown in fig. 2, 15 and 16, comprising a vertical shaft, a power head 12 for connection to a drill string, a housing and a swivel system, wherein: the vertical shaft 11 is vertically arranged and can be rotatably arranged by taking the axis of the vertical shaft as the center, the vertical shaft 11 is in transmission connection with the power head 12 and can drive the power head 12 to rotate, and the power head 12 can move up and down to feed.

Referring to fig. 2 and 16, the power drilling mechanism 1 of the present embodiment further includes a frame 13 and a rotation system, the rotation mechanism is used for driving the power head 12 to rotate in a horizontal plane, the rotation system includes a driving device, a transmission shaft 142, a clutch 144 and a transmission 143, wherein: the vertical shaft 11 is rotatably connected to the frame 13, and a chuck 16 for clamping a drill rod is arranged at the lower part of the vertical shaft 11; the driving device is positioned at the top of the drilling machine 100, the transmission shafts 142 are horizontally arranged, the output shafts of the driving device are in transmission connection with all the transmission shafts 142, the other end of each transmission shaft 142 is in transmission connection with the top end of the corresponding vertical shaft 11, and the rotation of the driving device can drive all the vertical shafts 11 to rotate by taking the axis of the driving device as the center; and a clutch 144 is located between the drive shaft and the vertical shaft for cutting off power transmission therebetween.

Specifically, referring to fig. 3, the drilling machine 100 of the present embodiment includes four drilling magazines 30 and four power drilling mechanisms 1, four transmission shafts 142 are provided, and the end of each transmission shaft 142 is engaged with the top end of the vertical shaft 11 by two bevel gears to realize transmission connection (or other common transmission structures are adopted); the clutch 144 is used to cut off the power transmission between the transmission shaft 142 and the vertical shaft 11, after the power transmission of a certain vertical shaft 11 is cut off, the gearbox 143 can change the required power head 12 to rotate clockwise into reverse, then the clutch 144 is closed again, the power head 12 rotates counterclockwise (for unscrewing the threaded connection between the power head 12 and the drill rod, and simultaneously ensuring that other power heads 12 can continue to rotate clockwise for drilling work). the clutch 144 is a common structure, and details are not described here.

The driving device is a hydraulic motor 141, the output end of the hydraulic motor 141 is provided with a conical output gear, and the end of each transmission rod can be provided with a driven bevel gear meshed with the output gear, so that the transmission connection between the hydraulic motor 141 and the transmission shaft 142 is realized.

Referring to fig. 3, a box body of one of the gearboxes 143 is omitted in fig. 3, so as to facilitate viewing of an internal structure, the gearbox 143 is located on the vertical shaft 11, a driving wheel 1431 and an intermediate wheel 1432 are present in the gearbox 143, the driving wheel 1431 is fixedly sleeved outside the vertical shaft 11, the power head 12 includes a vertically arranged threaded connection portion 121, a driven wheel 120 is fixed at an upper end of the threaded connection portion 121, and the driving wheel 1431 and the driven wheel 120 are in meshing transmission through the intermediate wheel 1432, so that the threaded connection portion 121 is driven to rotate by the vertical shaft 11. Referring to fig. 4, the lower portion of the threaded connection portion 121 is provided with an externally threaded end 122 for threaded connection with a drill rod.

In the revolving system with the above structure, referring to fig. 2-4, when the hydraulic motor 141 rotates, it can drive four transmission shafts 142 (or other numbers) to rotate, the transmission shafts 142 transmit power to the vertical shaft 11, and the vertical shaft 11 rotates with its own axis as the axis; referring to fig. 4, the vertical shaft 11 drives the threaded connection portion 121 of the power head 12 to rotate through the driving wheel 1431 and the intermediate wheel 1432 in the transmission 143, so that the rotation of the power head 12 is realized. When the external thread end 122 of the power head 12 is connected with a drill rod, the drill rod can rotate, and rotation power is provided for drilling.

In order to ensure that the drill rod can be driven by the power head 12 to perform drilling work, the power drilling mechanism 1 of the embodiment further comprises a feeding system 15, and the feeding system 15 is used for driving the power head 12 and the drill rod connected to the power head 12 to move up and down. Referring to fig. 3 and 4, the feeding system 15 includes a long feeding cylinder 151, a short feeding cylinder 152, an upper slide 153, and a lower slide 154, wherein: the upper sliding seat 153 and the lower sliding seat 154 are both connected to the rack 13 in a sliding manner and are arranged at intervals in the vertical direction, and the gearbox 143 and the power head 12 are both connected to the lower sliding seat 154; the long feeding oil cylinder 151 is vertically arranged, and the telescopic end of the long feeding oil cylinder is hinged with the upper sliding seat 153; the fixed end of the short feed cylinder 152 is hinged to the lower slide carriage 154, and the telescopic end thereof is hinged to the upper slide carriage 153.

Referring to fig. 3 and 4, when the short-feed cylinder 152 extends and contracts, the lower slide base 154, the gearbox 143 on the lower slide base 154 and the power head 12 can be pushed and pulled to move up and down; when the long feeding cylinder 151 extends and contracts, the upper slide seat 153 can be pushed and pulled to move up and down along the rack 13, and when the upper slide seat 153 moves, the short feeding cylinder 152, the lower slide seat 154 and the power head 12 are driven to move up and down simultaneously, so that feeding pressure is provided for drilling.

The matching structure of the long feeding cylinder 151 and the short feeding cylinder 152 can extend the movable distance of the power head in a limited vertical space. For example, when the long feeding cylinder 151 is fully extended and cannot continue to drive the power head to descend, the short feeding cylinder 152 is extended to move the power head to a position below the telescopic end of the long feeding cylinder 151, so as to extend the movable distance of the power head.

The feeding system 15 and the rotary system can realize feeding of the power head 12 in the vertical direction and rotation in a horizontal plane, rotary power and feeding pressure are provided for drilling respectively, and drilling operation can be performed after the power head 12 is connected with a drill rod.

When the threaded connection portion 121 is rotated, the rotating external threaded end 122 can be threadedly connected with a drill rod directly below the threaded connection portion (a drill rod in the prior art is usually threadedly connected with the power head 12, which is not described in detail herein).

It should be understood that, when the threaded connection portion 121 of the power head 12 is threadedly connected to the drill rod, the threaded connection portion 121 is required to be capable of rotating, and the threaded connection portion 121 is also required to be capable of moving in the vertical direction, so that the threaded connection portion 121 and the drill rod can be connected. The rotation power of the screw connection 121 is realized by the above-mentioned swing system, and the vertical movement thereof is realized by the above-mentioned feed system 15.

EXAMPLE five

In order to salvage the core barrel in the drill rod and to place a new core barrel in the drill rod, the drilling machine in this embodiment further comprises a coring mechanism disposed at the top of the drilling machine, as shown in fig. 2 and 15, each power drilling mechanism 1 is connected with a coring mechanism 4, and the coring mechanism 4 comprises a winch 41 and a spearhead 42, wherein: a rope 43 is wound on the winch 41, the winch 41 is used for recovering or releasing the rope 43, a fishing spear head 42 is fixed at the free end of the rope 43, and the fishing spear head 42 is positioned right above the power head 12.

The winch 41 is well known in the art, and mainly uses a rotating roller to release and retrieve the rope 43, so as to raise and lower the spearhead 42, and the structure thereof will not be described in detail. The spearhead 42 is also well known in the art, and when the spearhead 42 extends into the core barrel, the spearhead 42 can be locked with the structure in the core barrel so as to connect with the core barrel to pull up or lower down the core barrel, which is well known in the art and the structure thereof will not be described herein.

It should be understood that after the core barrel is filled with the core, the fishing spear 42 in the core taking mechanism 4 is lowered, the fishing spear 42 is locked with the used core barrel in the drill rod, the core barrel is lifted, the used core barrel is stored in the drill storing mechanism 3 by the drill transporting mechanism 2, the drill transporting mechanism 2 takes out a new core barrel 300 and transfers the new core barrel to the power drilling mechanism 1, and the fishing spear 42 lowers the new core barrel to the interior of the drill rod 200 at the bottom of the drill hole for continuous sampling.

The purpose of storing the drill rods in the drill storage mechanism 3 is: as drilling progresses, the drill rods need to be extended continuously, and new drill rods can be taken continuously by using the drill tool transfer mechanism 2, so that the drill rod assembly connected with the power head 12 is extended continuously. (the head and the tail of the drill pipe can be sleeved with each other, which is a mature technology in the field and is not described herein in detail). Unlike core tubes, in the above process, the drill rods in the tool storage means 3 are consumed continuously, and as drilling progresses, the drill rods in the tool storage means 3 are less and less.

The specific working process of the invention is as follows:

1. the drilling machine is lowered to the seabed, when the drilling machine is close to the seabed surface, the support leg telescopic oil cylinder 54 of the leveling mechanism 5 moves forwards to enable the telescopic beam 55 to extend out, meanwhile, the support leg rotating oil cylinder 56 is recovered to enable the support legs 51 to rotate 180 degrees, and then the leveling oil cylinder 52 is adjusted according to data measured by the sensor to ensure that the drilling machine is perpendicular to the seabed surface.

2. The half-angle swing oil cylinder 213, the quarter-angle swing oil cylinder 212 and the eighth-angle swing oil cylinder 211 rotate to enable the gripper assembly 24 to rotate to the center of the drill magazine 30, the rear opening and closing oil cylinder 240 advances, the sliding block 246 drives the four arms through the opening and closing arms 245 to enable the four arms to be opened at a certain angle, the manipulator 247 is enabled to align with the conveying channel 335 of the drill magazine 30 for storing the drill rods 200 or the core barrel 300, then the gripper oil cylinder 2471 feeds, and the manipulator 247 is opened. After the drill rod or the core barrel is grabbed, the opening-closing oil cylinders 240 are recovered, the two opposite arms are combined, and meanwhile, the three swing oil cylinders are matched to enable the grabbing hand assembly 24 to rotate to the position of the drill hole 400.

3. The chuck 16 is connected and disconnected to clamp the drilling tool, meanwhile, the hydraulic motor 141 is started, power is transmitted to the four vertical shafts 11 through the transfer case and the transmission shaft respectively, the rotating speed of the gearbox is adjusted, the power head 12 starts to rotate, the short feeding oil cylinder starts to advance, the power head 12 is connected with the drill rod, and the chuck 16 is loosened.

4. And repeating the

actions

2 and 3, so that the power heads at all the positions of the drill holes 400 are connected with the drill rods 200. Thereafter, the short feed cylinder 152 and the long feed cylinder 151 cooperate to provide weight on bit for drilling and the drilling operation begins.

5. And (4) coring operation. After a drill pipe is fully fed, the wireline coring mechanism 4 is operated, the drawworks lowering the spear head 42 to salvage the core barrel, and the robot 247 grasps the core barrel. Then, the three swing oil cylinders drive the gripper assembly 24 to rotate to the center of the drill magazine 30, the rear opening and closing oil cylinder 240 advances, the slider drives the first arm 241, the second arm 242, the third arm 243 and the fourth arm 244 through the opening and closing arm 245 to open a certain angle, the manipulator aligns with a conveying channel 335 of the drill magazine 30 for storing the core barrel, and the gripper oil cylinders 2471 on the two sides advance to place the core barrel into the conveying channel 335. The unused core barrel will be delivered from the other exit side due to the action of the delivery mechanism, after the core barrel is gripped by the right hand side manipulator 247, the opening and closing cylinder 240 is retracted, the first arm 241 and the second arm 242 are merged, the third arm 243 and the fourth arm 244 are merged, and simultaneously the three swing cylinders cooperate to rotate the gripper assembly 24 to the position of the drill hole 400, as shown in fig. 11. After the spearhead 42 clamps the core barrel, the winch 41 works, the core barrel 300 is lowered to the bottom of the hole, the

actions

2 and 3 are repeated, and a new drilling tool is connected to continue the drilling operation.

The invention discloses a central control type seabed multi-head continuous sampling drilling machine which comprises: the power drilling mechanism ensures the normal operation of the drilling machine when the feeding depths of the four power heads are different, the coring operation is carried out and the drill rods are connected and disconnected; the gearbox can change the drilling speed and direction of drilling to adapt to different conditions; the four drilling libraries are surrounded at the center in a fan shape, so that the internal space of the drilling machine is fully utilized; the conveying structure of the drill magazine enables the drilling tools to be stored and taken more conveniently, the drilling tool can be moved by the drilling tool moving mechanism positioned in the center, the time for storing and taking rods is reduced, and the drilling operation is more efficient; the support legs in the leveling mechanism can be rotatably recovered, so that the drilling machine can be conveniently lowered, and the support legs can extend outwards during drilling operation, so that the drilling machine is more stable; the power of the whole drilling machine is provided by a hydraulic system, the control is simple and convenient, and the use is safe and reliable.

The particular features, structures, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. The utility model provides a well accuse formula seabed bull continuous sampling rig which characterized in that, includes the rig, have drilling tool migration mechanism on the rig, be used for driving the drilling rod to creep into the power drilling mechanism downwards and be used for saving drilling tool storage mechanism of drilling rod and core barrel, wherein:

2. The central controlled seafloor multi-head continuous sampling drilling machine as claimed in claim 1, wherein the drilling tool storage mechanism comprises a drill magazine, the radial section of the drill magazine is in a sector ring shape, the center of the sector ring is located on the central axis of the drilling machine, the drill magazine comprises an upper disc, a bottom disc and more than two transmission discs which are connected, wherein:

3. The central-control type seabed multi-head continuous sampling drilling machine as claimed in claim 2, wherein the transfer plate comprises at least three transfer mechanisms which are arranged at intervals from inside to outside, the transfer channels are formed in the transfer mechanisms and/or between adjacent transfer mechanisms, and the drill rods and the core tubes are clamped in the corresponding transfer channels by the transfer mechanisms;

4. The central controlled subsea multi-head continuous sampling drilling machine according to claim 3, wherein the conveying mechanisms each comprise an upper shell, a lower shell, a conveyor belt, and bearing portions, wherein:

5. The center-controlled submarine multi-head continuous sampling drilling machine according to claim 1, wherein the drilling tool transfer mechanism comprises a center column, and a driving device, an upper rotary drum, a lower rotary drum and a gripper assembly which are arranged on the center column, wherein:

the upper end and the lower end of the gripper assembly are respectively connected with an upper rotary drum and a lower rotary drum, the lower rotary drum is sleeved at the lower end of the upper rotary drum, and the driving end of the driving device is connected with the upper rotary drum and is used for driving the gripper assembly to rotate 360 degrees by taking the central column as an axis;

6. The central controlled seafloor multi-head continuous sampling drill rig as claimed in claim 5, wherein the gripper assembly comprises an opening and closing cylinder, a first arm, a second arm, a third arm and a fourth arm, wherein:

7. The center-controlled submarine multi-head continuous sampling drilling machine according to claim 1, further comprising a leveling mechanism located at the bottom of the drilling machine, the leveling mechanism comprising a leveling base and two or more support legs located on the leveling base, each support leg being connected to a leveling cylinder, a support leg telescoping cylinder and a support leg rotating cylinder, wherein:

8. The central controlled subsea multi-head continuous sampling drill according to claim 1, wherein the powered drilling mechanism comprises a vertical shaft, a power head for connection to a drill pipe, a frame, and a swivel system, wherein:

9. The central controlled subsea multi-head continuous sampling drill according to claim 8, wherein the power drilling mechanism further comprises a feed system comprising a long feed cylinder, a short feed cylinder, an upper slide, and a lower slide, wherein:

10. The subsea multi-head continuous sampling drilling machine according to claim 8, wherein a coring mechanism is further provided on the top of the drilling machine, and one coring mechanism is connected to each power drilling mechanism, and the coring mechanism comprises a winch and a spearhead, wherein: the winch is wound with a rope and used for recovering or releasing the rope, the spearhead is fixed to the free end of the rope, and the spearhead is located right above the power head.